Quadrotor from scratch
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/* panic.h */
/* OMG we're all going to die!!!! */
void panic(unsigned int reason);
/* Panic code goes in the low 8 bits */
#define PANIC_WATCHDOG_TIMEOUT 0x100
#define PANIC_SENSOR_FAIL 0x200
#ifdef PANIC_CHECKPOINT
extern unsigned int checkpoint;
#define CHECKPOINT(x) do { checkpoint = (x); } while (0)
#else
#define CHECKPOINT(x)
#endif